Hello, I just had two fairly odd crashes in one day (no damage) but am completely baffled about why they happened. The .bin can be found at this link.
The log contains three (very) short flights, let me describe what happened.
This was the first test flight of a foamie Icon A5 with a Pixracer R15. The idea was to test all was well and autotune it.
The first flight (AUTOTUNE) was very unimpressive as the motor was weak and the elevator at full up was barely letting it climb so I closed the throttle and let it land.
After mucking about with the elevator horn to allow for larger up deflection, I tried again in AUTOTUNE. It took off, started gaining altitude then suddenly rolled hard right and crashed upside down. I had a look, it looked OK (it barely had time to gain any serious altitude, the moment it completed the roll it pretty much hit the ground) so I said what the hell, I would try again.
This time, I tried it in FBWA, in case it was AUTOTUNE related. The behaviour was exactly the same, hard roll to the right and crash after a few seconds.
After the crash, I had a look at the log in MP and Dronee Plotter, half expecting to see some naughtiness with the power supply causing the board to brown out but POWR.Vcc seems fine (ripples within 4.91 and 4.98 Volts).
Looking at the first (non crashy) flight, and plotting AETR.Ail and AHR2.Roll, it is evident that they are mirrored around the x-axis:
Looking at the first crashy flight, this seems to be the case also till after 19:1840, when it pulls all the stops and deflects the aileron fully in the correct (apparently) direction. There are a few frantic complete reversals after it has rolled over but that is probably because it was close to the 180 degree mark and the autopilot was trying to decide which way to unflip it:
Similar story with the second crash flight:
In both cases, it looks like all is going fine and then the whole thing flips for no reason despite the ailerons fully deflecting to aver it, at least if the log is to be believed.
One more thing that struck me as odd was that, when it was on the ground and upside down, the ailerons would not move when moving the Tx stick whereas the elevator would. However, when changing mode and then changing back, it went back to normal.
It looks very, very strange. I will try again at some point with a camera watching the ailerons to see what they are actually doing because I 'm not sure I can trust the log. Does anyone have any idea what I could be missing?